ArduCopter 2.5 released!
Version 2.5 of the ArduCopter code is now available in the AP Mission Planner and in the downloads area!
Enhancements:
- The first ArduCopter code release optimized for the APM 2. Leans and drift should be much reduced or even eliminated for most users. This was accomplished through a number of core improvements to the DCM implementation by Tridge like this one and this one.
- Loiter and waypoint following should be improved due to a D term bug fix, some tuning and the improved DCM performance mentioned above.
- On start-up, the yaw heading is updated with first successful mag read (so you should no longer see the slow rotation from north to your actual heading).
- Increased output rate to ESCs to 490hz. This update rate is also user selectable using the new RC_SPEED parameter.
- hexa copter stability patch bug fix (should resolve slight flattening when pitching forward and accelerating very rapidly).
- improved baro filtering
- fix to dataflash logging of Mag heading
- addition of H1 swash plate type and bug fix for proactive yaw compensation for collective pitch changes for TradHelis.
Tuning:
The default PIDs are optimized for a 3DR/Jdrones quad with 850 motors and 10" props. If you're using more powerful motors/props, start by turning down Rate Roll P in 25% steps.
While some testers have reported very good flights with the default PIDs, some have reported that this release is a little "sharper" due to the DCM improvements and have found they needed to:
reduce stabilize P by 10% (i.e. 4.5 -> 4.2)
reduce stabilize D by 30% (i.e. 0.15 -> 0.10)
increase rate D from 0 to 0.001
Tuning loiter can be tricky. Refer to the discussions which will appear below for more community feedback on what parameters work best.
Please post your feedback in this discussion. For enhancement requests and bug report, please add them to the arducopter issues list. When possible please include logs (tlog and/or dataflash) and tell us whether you're using APM1 or APM2 and what version of the software you're using (presumably 2.5 but tell us anyway!).
Thanks for this release go to the developers (both in the core team but also those who have provided bug fixes through the issues list) and also the community members who participated in the previous release thread and provided some great detailed information in the form of issue reports and logs which allowed us to nail some bugs!
Replies to This Discussion
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DeveloperPermalink Reply by R_Lefebvre on -
Wow, a full 1mm huh? That's going to be heavy. I was hoping just a foil would be needed.
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Permalink Reply by Dave C on -
Yup, I know, but i only need 100mm square, if it works I'm going to try to make a centre plate with it. I'm getting some thinner stuff too, he just has to see what else he's got scraps of.
And could i rephrase that 'top gun' comment. I'd say my joystick abilities are more Maverick than top gun....
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DeveloperPermalink Reply by R_Lefebvre on -
Try combining it with some aluminum. Aluminum can help to block rapidly changing magnetic fields. Though it's the more slowly changing ones that actually mess up the mag. Anyway, worth a shot.
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Permalink Reply by Dave C on
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Good call, the rapid spiking doesn't matter too much as it all happens too quick for the avionics to be influenced, servo lag particularly in the case of my tri. But in order for everything to work (including future developments) as we all want we should strive to produce smooth curves where output occurs just after input, but produces the desired result no matter what.
And we are oh so close, with some brilliant minds on the case.
So if you forgive me i'd like to once again give a big (drunken - can you tell?) thank you to everyone carrying out the real work in this DIY project.
Beer's, on me.
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Permalink Reply by Marc Puig Pasarrius on -
Thanks for the suggestion, I'll buy this one.
Maybe the best solution is the used by dji with its gps/compass module:
It would be great to see something like that for the APM2, but you can't move its compass position :(
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DeveloperPermalink Reply by R_Lefebvre on -
Interesting, I wonder why it says:
Ultraperm 80 does NOT nullify the effects of a permanent magnet.
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Permalink Reply by Marc Puig Pasarrius on
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I suppose the bad interferences are the dynamic ones. When it arrives I'll post the results.
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Permalink Reply by Marc Puig Pasarrius on
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Don't use mumetal, it's worse than nothing! With the mumetal under APM I get almost plain mag heading:
I recalibrated the compass after putting the mumetal sheet. I really think the best approach is the used by dji.
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DeveloperPermalink Reply by R_Lefebvre on -
Marc, that's great info. Please post this in the 2.6 thread where the discussion is continuing.
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Permalink Reply by Dave C on
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Oh bummer, I might cancel my samples...,although have you tried it above the APM? I'm wondering if the apm is closest to the ground, with a sheet over it then all the power wires above it might improve.
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Permalink Reply by Marc Puig Pasarrius on
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Dave, no I haven't tried it above APM because all non wanted magnetic sources are below. First I tried with a can sheet and it didn't work (it was only big enough to cover the APM, I suppose it was from steel).
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Permalink Reply by John Campen on -
Just curious , does the DJI wookong work out of the box ok for UAV flight? Whats the pros and cons of this system other than cost?
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